Active Cannulas for Bio-Sensing and Surgery

0651803 Cowan本研究的目标是开发一种灵巧的，小尺寸的，套管型机器人微创手术（MIS）和生物传感器输送应用的基础上同轴组装的弹性管状结构。套管的移动和控制基于弹性能量的存储和释放，弹性能量经由用户通过远程操作系统在本地或远程引起的平移和旋转运动而被存储和释放。这项研究将提供更好的理解和表征如何驱动可以编码在柔性结构，以及如何可以控制。它模仿各种自然生物，如蛇，章鱼触角，象鼻等，因此，它可以被认为是生物启发的装置。诸如小型化、复杂的组织-设备接口和远程操作等问题增加了该项目的科学挑战。该活动以连贯的方式将研究活动与本科生和高中生的教育机会结合起来。与此同时，它寻求开发一种改进的微创手术技术，通过提高保健质量使许多人受益。

0651803CowanThe goal of this research is to develop a dexterous, small-size, cannulas type robot for Minimal Invasive Surgery (MIS) and bio-sensor delivery applications based on coaxially assembled elastic tubular structures. The movement and control of the cannulas is based on the storage and release of elastic energy via translational and rotational motions induced by the user either locally or remotely via tele-operation systems. The research will provide better understanding and characterization of how actuation can be encoded in flexible structures and how it can be controlled. It mimics various natural creatures such as snakes, octopus tentacles, elephant trunks, etc., hence it can be considered as a biologically-inspired device. Issues such as miniaturization, complex tissue-device interfacing, and tele-operation add onto the scientific challenges of the project. This activity integrates research activities with educational opportunities for undergraduate and high school students in a coherent fashion. At the same time, it seeks to develop an improved technology for minimally invasive surgery which could benefit many people through improved quality of health care.